/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWSIM_UTIL_PRESHAPESAMPLER_HPP_
#define RWSIM_UTIL_PRESHAPESAMPLER_HPP_

#include "StateSampler.hpp"

#include <rw/core/Ptr.hpp>
#include <rw/kinematics/State.hpp>

namespace rw { namespace pathplanning {
    class QSampler;
}}    // namespace rw::pathplanning
namespace rw { namespace models {
    class Device;
}}    // namespace rw::models

namespace rwsim { namespace util {

    /**
     * @brief
     *
     * This StateSampler will never become empty
     *
     */
    class PreshapeSampler : public StateSampler
    {
      public:
        /**
         * @brief create a preshape sampler based on a QSampler
         * @param dev [in] the device for which configurations are sampled
         * @param qsampler [in] the configuration sampler
         * @param initState [in] the initial state
         */
        PreshapeSampler (rw::models::Device* dev,
                         rw::core::Ptr< rw::pathplanning::QSampler > qsampler,
                         rw::kinematics::State& initState);

        /**
         * @brief destructor
         */
        virtual ~PreshapeSampler ();

        //! @copydoc StateSampler::sample
        bool sample (rw::kinematics::State& state);

        //! @copydoc StateSampler::sample
        bool empty () const { return false; };

      private:
        rw::models::Device* _dev;
        rw::core::Ptr< rw::pathplanning::QSampler > _qsampler;
        rw::kinematics::State _initState;
    };
}}    // namespace rwsim::util

#endif /* FINITESTATESAMPLER_HPP_ */
